WO2023165389A1 - Appareil d'alimentation, robot chirurgical et procédé d'articulation - Google Patents

Appareil d'alimentation, robot chirurgical et procédé d'articulation Download PDF

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Publication number
WO2023165389A1
WO2023165389A1 PCT/CN2023/077630 CN2023077630W WO2023165389A1 WO 2023165389 A1 WO2023165389 A1 WO 2023165389A1 CN 2023077630 W CN2023077630 W CN 2023077630W WO 2023165389 A1 WO2023165389 A1 WO 2023165389A1
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WIPO (PCT)
Prior art keywords
rotating member
coupled
input
preset
rotating
Prior art date
Application number
PCT/CN2023/077630
Other languages
English (en)
Chinese (zh)
Inventor
刘放
林民才
孙强
王建辰
Original Assignee
深圳市精锋医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210213585.XA external-priority patent/CN116725678A/zh
Priority claimed from CN202210212330.1A external-priority patent/CN116725677A/zh
Application filed by 深圳市精锋医疗科技股份有限公司 filed Critical 深圳市精锋医疗科技股份有限公司
Publication of WO2023165389A1 publication Critical patent/WO2023165389A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a power device, a surgical robot and a bonding method.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • the current minimally invasive surgical robot can control the corresponding power device to work according to the doctor's operation, and drive the corresponding surgical instrument to perform the corresponding surgical operation.
  • the surgical instruments are usually detachably mounted to the main body of the equipment where the power device is located, and the surgical instruments are used to receive the torque of the power device.
  • the rotation angle of the motor can only be determined by means of an encoder, and it is impossible to judge whether the surgical instrument or the sterile adapter is coupled with the power device In this state, the surgical instrument cannot accurately complete the predetermined action according to the doctor's operation, and the unintended swing of the instrument joint caused by the self-test process in the uncoupled state of the surgical instrument may also bring surgical risks.
  • the present invention provides a power device, a surgical robot and a joint method, which can accurately identify the driving engagement state of the power device and the surgical instrument, so as to accurately execute the doctor's order and avoid abnormal joints of the instrument. Anticipation swings.
  • a power device for a surgical robot comprising:
  • a rotating member rotatably arranged on the first housing, including an axial coupling end;
  • an axial bias configured to provide a resilient bias for the rotating member toward the surgical instrument
  • a first detection component configured to detect the position of the rotating member in its axial direction
  • Controller configured as:
  • the driving input interface is not coupled to the coupling end of the rotating member, and the driving input The interface is configured to provide torque to the surgical instrument.
  • the drive input interface includes a first input plate provided on the surgical instrument, and the first input plate and the rotating member are coupled through the cooperation of the concave and convex features facing the end faces of each other. ;
  • the controller is configured as:
  • the surgical instrument After the surgical instrument is loaded into the power device, it is judged whether the first input disc is coupled to the rotating member according to the detection result of the first detection component.
  • the power device further includes an adapter assembly, the adapter assembly includes a second housing detachably mounted on the first housing and a second housing rotatably arranged on the second housing the second input disk on the body;
  • the drive input interface includes the second input disc, and the second input disc and the rotating member are coupled through the cooperation of the concave and convex features on the end faces facing each other, so as to provide a connection between the rotating member and the surgical instrument. transfer torque between
  • the controller is configured as:
  • the second input disc is coupled with the first input disc provided on the surgical instrument through the cooperation of concave and convex features facing each other's end faces, and the second input disc has a Axial degrees of freedom of the second shell;
  • the controller is configured as:
  • the detection end of the first detection component is arranged on the side facing away from the surgical instrument relative to the rotating member, and there is a gap between the detection end of the first detection component and the rotating member. The spacing along the axial direction of the rotating member.
  • the first detection part is configured to detect whether the detected part of the rotating member is sensed; the controller is configured to: when the first detection part senses the rotation When the detected part of the component is detected, it is determined that the drive input interface is not coupled to the rotating component.
  • the first detection component is configured to detect the distance between it and the detected part; the controller is configured to: when the first detection component detects that it is close to the detected part When the distance between the rotating parts is less than the preset distance, it is determined that the drive input interface is not coupled with the rotating parts.
  • the power device further includes a first signal terminal provided on the first housing;
  • the controller is configured as:
  • the drive input interface is loaded into the power device.
  • the power device further includes an adapter assembly configured to transmit torque between the rotating member and the surgical instrument, and the adapter assembly includes a second signal terminal;
  • the controller is configured to: determine that the adapter assembly is installed in the first housing according to the signal that the second signal terminal is connected to the first signal terminal; and/or, After the connecting assembly is installed in the first housing, it is determined that the surgical instrument is installed in the switching assembly according to the signal that the third signal terminal of the surgical instrument conducts with the first signal terminal.
  • the power device further includes a second detection component, and a target point portion is provided on the rotating member;
  • the controller is configured as:
  • the power device further includes an adapter assembly detachably mounted on the first housing, and the adapter assembly is configured to transmit torque between the rotating member and the surgical instrument ;
  • the controller is configured as:
  • the rotating member is controlled to rotate until the target point part is detected by the second detection part.
  • the power device further includes an adapter assembly, the adapter assembly includes a second input disk, the surgical instrument includes a first input disk, and the first input disk can pass through the second input disk coupled with the rotating member;
  • the controller is configured as:
  • the rotating member After the second input disk is installed on the rotating member and is not coupled with the rotating member, the rotating member is controlled to rotate in a preset first way, and when the rotating member rotates to the When the second input disk is coupled, the preset rotation of the rotating member is interrupted; and/or,
  • the rotating member When the rotating member is coupled with the second input disc, the first input disc is installed behind the second input disc and is not coupled with the rotating member, the rotating member is controlled to be preset Rotate in the second mode, and interrupt the preset rotation of the rotating member when the rotating member rotates to couple with the first input disk.
  • the rotating member includes a first rotating member and a second rotating member, and each rotating member corresponds to a second input disk and a first input disk;
  • the controller is configured as:
  • the second rotating member When the second rotating member is coupled with another second input disk, and the corresponding first input disk is not coupled with the second rotating member after being installed on the corresponding second input disk, the second rotating member is controlled to The rotating member rotates in a preset fourth way, and when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled. The rotating member is rotated until the target point is located within a preset angle interval.
  • the rotating member includes a first rotating member and a second rotating member, and each rotating member corresponds to a second input disk and a first input disk;
  • the controller is configured as:
  • the first rotating member When the first rotating member is coupled with a second input disk, and the corresponding first input disk is not coupled with the first rotating member after being installed on the corresponding second input disk, controlling the first rotation
  • the member rotates in a preset third way, and when the first rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the first rotating member is interrupted, and the first rotating member stops rotating. rotating parts;
  • the second rotating member When the second rotating member is coupled with another second input disk, and the corresponding first input disk is not coupled with the second rotating member after being installed on the corresponding second input disk, the second rotating member is controlled to The rotating member rotates in a preset fourth way, and when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled. The target point portion of the rotating member rotates to a preset angle interval.
  • the first mode and the second mode both include forward and reverse rotation scanning, and the angle of unidirectional scanning in the first mode does not exceed the first angle threshold, and the In the second manner, the angle of unidirectional scanning does not exceed a second angle threshold, and the first angle threshold is greater than the second angle threshold.
  • the power device further includes an indicating device
  • the first housing is provided with a first signal terminal
  • the adapter assembly includes a second signal terminal
  • the surgical instrument includes a third signal terminal
  • the indicating device is arranged on the adapter assembly and is electrically connected to the second signal terminal;
  • the second signal terminal can conduct with the first signal terminal after the adapter assembly is installed in the first housing, and can communicate with the third signal terminal after the surgical instrument is installed in the adapter assembly.
  • the signal terminal is turned on;
  • the controller is configured as:
  • the indication state of the indication device is switched according to the detection result of the first detection component .
  • Another object of the present invention is to provide a surgical robot, which includes a surgical instrument and any one of the above-mentioned power devices, and the surgical instrument is configured to perform corresponding actions driven by the power device.
  • Another object of the present invention is to provide a method for detecting the engagement state of a power unit of a surgical robot, the power unit comprising:
  • a rotating member including an axial coupling end
  • an axial bias configured to provide a resilient bias for the rotating member toward the surgical instrument
  • a first detection component configured to detect the position of the rotating member in its axial direction
  • the methods include:
  • the driving input interface is coupled with the rotating member, and the driving input interface is configured to provide torque for the surgical instrument when coupled with the rotating member, so that the The deformation of the axial offset member becomes larger;
  • the drive input interface includes a first input plate provided on the surgical instrument, and the first input plate and the rotating member are coupled through the cooperation of the concave and convex features facing the end faces of each other. ;
  • the methods include:
  • the surgical instrument After the surgical instrument is loaded into the power device, it is judged whether the first input disc is coupled to the rotating member according to the detection result of the first detection component.
  • the power device further includes an adapter assembly
  • the adapter assembly includes a second input disk with axial and circumferential degrees of freedom, and the second input disk and the rotating member pass through the coupling of the concave and convex features facing each other's end faces, the first input disc and the second input disc provided on the surgical instrument are coupled by the cooperation of the concave and convex features facing each other's end faces;
  • the methods include:
  • the second input disc is coupled with the rotating member and the surgical instrument is installed in the adapter assembly, according to the detection result of the first detection component, it is judged whether the first input disc is compatible with the second input disc. Two input discs are coupled.
  • the first detection component is configured to detect whether the detected portion of the rotating member is sensed
  • the method includes: determining that the drive input interface is not coupled to the rotating member when the first detection component senses the detected portion of the rotating member.
  • the first detection component is configured to detect the distance between it and the detected part
  • the method includes: when the first detection component detects that the distance between it and the rotating member is less than a preset distance, determining that the drive input interface is not coupled to the rotating member.
  • the power device further includes a first signal terminal
  • the method includes: judging that the drive input interface is loaded into the power device according to a signal that the first signal terminal is connected to the signal terminal of the drive input interface.
  • the power device further includes an adapter assembly configured to transmit torque between the rotating member and the surgical instrument, and the adapter assembly includes a second signal terminal;
  • the method includes: judging that the adapter assembly is installed on the power device according to the signal that the second signal terminal is connected to the first signal terminal; and/or, when the adapter assembly is installed on the power device, After the power device is described, according to the signal that the third signal terminal of the surgical instrument conducts with the first signal terminal, it is determined that the surgical instrument is installed in the adapter assembly.
  • the power device further includes an indicating device and a first signal terminal
  • the adapter assembly includes a second signal terminal
  • the surgical instrument includes a third signal terminal
  • the indicating device is provided on the adapter on the component, and is electrically connected to the second signal terminal
  • the second signal terminal can be connected to the first signal terminal after the adapter assembly is installed on the power device, and can be connected to the third signal terminal after the surgical instrument is installed on the adapter assembly. conduction;
  • the methods include:
  • the indication state of the indication device is switched according to the detection result of the first detection component.
  • Another object of the present invention is to provide a method for joining a power unit of a surgical robot, including:
  • the drive input interface After the drive input interface is installed on the coupling end of the rotating part of the power device, the position of the rotating part in its axial direction is detected; wherein, the driving input interface is configured to provide torque for the surgical instrument, the The rotating member elastically abuts against the drive input interface under the action of the axial biasing member, the axial biasing member is configured to provide the rotating member with an elastic bias towards the surgical instrument, and when the operating instrument When the drive input interface that provides torque is coupled with the rotating member, the amount of deformation becomes larger;
  • the rotating member When the detected portion of the rotating member is located on the side facing away from the surgical instrument relative to the preset position, the rotating member is rotated forward and/or reversely in a preset manner, so that the rotating member moves along its Axially move to the preset position.
  • the drive input interface includes a first input plate provided on the surgical instrument, and the first input plate and the rotating member are coupled through the cooperation of the concave and convex features facing the end faces of each other. .
  • the power device further includes an adapter assembly
  • the adapter assembly includes a second input disk with axial and circumferential degrees of freedom, and the second input disk and the rotating member pass through the coupling of the concave and convex features facing each other's end faces, the first input disc and the second input disc provided on the surgical instrument are coupled by the cooperation of the concave and convex features facing each other's end faces;
  • the bonding methods include:
  • the rotating member When the detected portion of the rotating member is located on the side facing away from the surgical instrument relative to the preset position, the rotating member is rotated forward and/or reversely in a preset first manner, so that the rotating member move along its axis to the preset position;
  • the rotating member When the detected portion of the rotating member is located on the side facing away from the surgical instrument relative to the preset position, the rotating member is forwardly and/or reversely rotated in a second preset manner, so that the rotating member Move along its axis to the preset position.
  • the power device further includes a second detection component, and a target point portion is provided on the rotating member;
  • the bonding methods include:
  • the rotating part Before the drive input interface is mounted on the coupling end of the rotating part of the power device, the rotating part is rotated until the target point is detected by the second detection part.
  • the bonding method further includes:
  • the power device further includes a second detection component, and a target point portion is provided on the rotating member;
  • the rotating member includes a first rotating member and a second rotating member, and each rotating member corresponds to a second input disk and a first input disk;
  • the bonding methods include:
  • the first rotating member When the first rotating member is coupled with a second input disk, and the corresponding first input disk is not coupled with the first rotating member after being installed on the corresponding second input disk, controlling the first rotation The part rotates according to the preset third way, and when the first rotating part rotates to the corresponding first input disc When coupling, interrupt the preset rotation of the first rotating member, and control the first rotating member to rotate until the target point is detected by the second detection component;
  • the second rotating member When the second rotating member is coupled with another second input disk, and the corresponding first input disk is not coupled with the second rotating member after being installed on the corresponding second input disk, the second rotating member is controlled to The rotating member rotates in a preset fourth way, and when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled. The rotating member is rotated until the target point is located within a preset angle interval.
  • the power device further includes a second detection component, and a target point portion is provided on the rotating member;
  • the rotating member includes a first rotating member and a second rotating member, and each rotating member corresponds to a second input disk and a first input disk;
  • the bonding methods include:
  • the first rotating member When the first rotating member is coupled with a second input disk, and the corresponding first input disk is not coupled with the first rotating member after being installed on the corresponding second input disk, controlling the first rotation
  • the member rotates in a preset third way, and when the first rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the first rotating member is interrupted, and the first rotating member stops rotating. rotating parts;
  • the second rotating member When the second rotating member is coupled with another second input disk, and the corresponding first input disk is not coupled with the second rotating member after being installed on the corresponding second input disk, the second rotating member is controlled to The rotating member rotates in a preset fourth way, and when the second rotating member rotates to be coupled with the corresponding first input disc, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled. The rotating member is rotated until the target point is located within a preset angle interval.
  • Another object of the present invention is to provide a method for controlling a surgical robot.
  • the surgical robot includes an operating unit and a slave operating device, and the slave operating device includes:
  • each rotating member including an axial coupling end
  • each axial biasing member is configured to provide the rotating member with an elastic bias toward the surgical instrument, and connect the drive input interface for providing torque to the surgical instrument with the coupling end The deformation becomes larger when the parts are coupled;
  • first detection parts each of which is configured to detect the position of one of the rotating parts in its axial direction
  • control methods include:
  • the posture of the operating part is aligned with the posture of the slave operating device.
  • the rotating member includes a first rotating member and a second rotating member, and each rotating member corresponds to a second input disk and a first input disk;
  • control method After all the drive input interfaces of the surgical instrument are coupled to the corresponding rotating parts of the power device, before aligning the posture of the operating part with the posture of the slave operating device, the control method further includes:
  • the posture of the operating part is aligned with the posture of the slave operating device; otherwise, the posture alignment step is not performed.
  • the power device provided by the present invention uses the first detection component to detect the axial position of the rotating member configured to output torque, so that the driving of the power device can be accurately judged according to the detection result of the first detection component after the surgical instrument is installed. Coupled state, so as to accurately execute the expected action according to the doctor's instruction, and avoid the surgical risk caused by the unexpected swing of the instrument joint.
  • Fig. 1 is a schematic structural view of a surgical robot according to Embodiment 1 of the present invention.
  • Fig. 2 is a schematic structural view of a surgical instrument according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram of a partial structure of a surgical instrument according to Embodiment 1 of the present invention.
  • FIG. 4A shows a schematic diagram of the internal structure of a power device in a coupled state of a surgical instrument according to Embodiment 1 of the present invention
  • Fig. 4B shows a schematic diagram of the internal structure of a power device in an uncoupled state of a surgical instrument according to Embodiment 1 of the present invention
  • Fig. 4C is a schematic diagram of the internal structure of another power device using a tension spring in the embodiment 1 of the present invention when the power device is coupled to the surgical instrument;
  • Fig. 5A is a schematic diagram of the main structure of a power device according to Embodiment 1 of the present invention.
  • Fig. 5B is a schematic diagram of the main structure of another power device according to Embodiment 1 of the present invention.
  • Fig. 6A is a schematic exploded view of the structure of the power plant with the adapter assembly according to Embodiment 1 of the present invention.
  • FIG. 6B is a partial cross-sectional view of an adapter assembly according to Embodiment 1 of the present invention.
  • FIG. 7 is a schematic structural diagram of an adapter assembly according to Embodiment 1 of the present invention.
  • Fig. 8 is a schematic diagram of a coupling state of a surgical instrument without an adapter assembly according to Embodiment 1 of the present invention.
  • FIG. 9 is a partial structural schematic diagram of another adapter assembly according to Embodiment 1 of the present invention.
  • FIG. 10 shows a flow chart of a method for detecting the engagement state of a power unit of a surgical robot according to Embodiment 2 of the present invention
  • Fig. 11 shows a flow chart of a method for joining a power unit of a surgical robot according to Embodiment 3 of the present invention
  • FIG. 12 shows a structural block diagram of a computing device according to Embodiment 4 of the present invention.
  • Fig. 13 shows a flow chart of a control method of a surgical robot according to Embodiment 5 of the present invention
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • the surgical robot includes a main operating console 1 and a slave operating device 2 .
  • the main operation console 1 includes an operation part 1a, and the user controls the movement of the slave operation device 200 through the operation part 1a,
  • a control command is sent to the slave operating device 2 to control the slave operating device 2 , and it can also be used to display images acquired from the slave operating device 2 .
  • the slave operating device 2 is used to respond to the control commands sent by the master console 1 and perform corresponding operations, and the slave operating device 2 can also be used to acquire images inside the body.
  • the slave operating device 2 may include a robotic arm 21 , a power device 100 mounted on the robotic arm 21 , a surgical instrument 200 mounted on the power device 100 , and a cannula 22 sheathed on the long axis 210 of the surgical instrument 200 .
  • the mechanical arm 21 is used to adjust the position of the surgical instrument 200; the power device 100 is used to drive the surgical instrument 200 to perform corresponding operations.
  • the embodiment of the present invention does not limit the master-slave surgical robot, and the surgical robot may also be a structure that does not distinguish between master and slave devices, and integrates operation functions into slave operation devices.
  • the surgical instrument 200 mainly includes a long shaft 210, an end effector 211 and an instrument driving part 212.
  • the end effector 211 of the surgical instrument 200 is used to extend into the body, and perform surgical operations through its distal end instrument, and/or acquire In vivo images.
  • the long axis 210 of the surgical instrument 200 passes through the cannula 22 , and the end effector 211 extends out of the cannula 22 and is driven by the power device 100 to perform operations.
  • the area where the long axis 210 of the surgical instrument 200 is located in the sleeve 22 can be set as a rigid area or a flexible area as required, and the sleeve 22 can also be omitted.
  • the slave operating device 2 may include one or more robotic arms 21 , one or more power devices 100 may be arranged on one robot arm 21 , and one or more surgical instruments 200 may be installed on one power device 100 .
  • a power unit 100 can be used to dock a surgical instrument 200 to provide the surgical instrument 200 with a driving force for performing related operations;
  • a power device 100 is used to simultaneously dock a plurality of different surgical instruments 200 to provide driving force for the plurality of surgical instruments 200 .
  • each surgical instrument 200 includes a plurality of first input disks 51, such as 51A-51F, and each power device 100 for docking with it also There are multiple rotating parts 10, and the rotating parts 10 are driven to rotate by the motor.
  • first input discs 51 are drivingly combined with different rotating parts 10, thereby realizing transmission of torque.
  • the power device 100 drives the end effector 211 to perform related surgical operations.
  • Fig. 3 shows the situation that the surgical instrument 200 includes six first input discs 51A-51F, and in other embodiments, there may be other numbers of the first input discs.
  • Surgical manipulations may include controlling the major axis 210
  • the distal end of the end effector 211 can perform operations such as yaw, rotation, and pitch, and the end effector 211 can be surgical forceps, cauterization equipment, shearing equipment, imaging equipment, etc.
  • the first input disc 51 is arranged in the instrument housing 213, the proximal end of the first input disc 51 is rotatably connected to the instrument drive part 212, the distal end of the first input disc 51 is exposed outside the instrument housing 213, and is configured as The end effector 211 is driven to act by receiving the drive input from the power device 100 , and each first input disc 51 moves independently of other first input discs.
  • the distal end of the instrument housing 213 of the surgical instrument 200 is installed on the proximal end of the power device 100 as an example for illustration.
  • the instrument channel, the first input disc 51 of the surgical instrument 200 is located at the distal end of the instrument housing 213 , facing the end effector 211 , and the rotating member 10 of the power device 100 is located at the proximal end of the power device 100 .
  • the present invention is also applicable to the situation that the proximal end of the instrument housing 213 of the surgical instrument 200 is installed on the distal end of the power device 100, at this time, the first input disc 51 of the surgical instrument 200 is located at the end of the instrument housing 213.
  • the rotating member 10 of the power device 100 is located at the distal end of the power device 100 .
  • this embodiment provides a power device 100 as shown in FIGS. , the rotating member 10, the axial biasing member 20, the first detection component 30 and the controller 40, wherein the first housing 100a is used to fix the motor M, and each motor M is drivingly connected to a first input disk 51, and is driven by It is configured to provide a rotating power source for the first input disc 51 .
  • the rotating member 10 is rotatably disposed in the first housing 100a, and includes an axial coupling end 10S.
  • the coupling end 10S is exposed outside the first housing 100a for docking with the drive input interface 50.
  • the drive input interface 50 serves as the power input interface of the surgical instrument 200 , and may be a part of the surgical instrument 200 , or a component independent of the surgical instrument 200 , or a part of the power device 100 .
  • the axial biasing member 20 is configured to provide the rotating member 10 with an elastic bias towards the surgical instrument 200, so that the drive input interface 50 can maintain elastic contact when docking with the rotating member 10 to achieve a stable axial contact.
  • the axial biasing member 20 of this embodiment adopts a compression spring and is arranged on the rotating member 10
  • the side (distal end) of the surgical instrument 200 facing away from it is relatively fixed with the rotating shaft M1 of the motor M and rotates with the rotation of the rotating member 10.
  • the compression amount of the axial biasing member 20 Minimally, when the rotating member 10 is depressed, the compression of the axial biasing member 20 increases.
  • the axial bias member 20 may also use other deformable elastic members, such as rubber.
  • the axial biasing member 20 can also be arranged on the side (near end) of the rotating member 10 close to the surgical instrument 200, and a tension spring is used, and one end of the axial biasing member 20 is connected to the motor M.
  • the rotating shaft M1 is relatively fixed, and the other end is fixed to the rotating member 10, and pulls the rotating member 10 toward the side of the surgical instrument 200.
  • the rotating member 10 is not pressed, the elongation of the axial bias member 20 is the smallest.
  • a groove C can be provided at the end of the rotating part 10, and the extension spring can be set in the groove C. middle.
  • the drive input interface 50 is not installed on the rotating member 10.
  • the first detection component 30 is configured as Detect the position of the rotating member 10 or a certain part on its axial direction.
  • the controller 40 is configured to determine that the drive input interface 50 is not in contact with the rotating member when the detected portion of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position (position A0 shown in FIG. 4A ).
  • the coupling end 10S of 10 is coupled.
  • the rotating member 10 when the rotating member 10 is at the preset position A0, it is a critical state where the driving input interface 50 is coupled with the rotating member 10, at this time, the driving input interface 50 compresses the axial biasing member 20 to provide torque for the surgical instrument 200 . That is to say, only when the driving input interface 50 is coupled with the rotating member 10, the rotating member 10 is located at the preset position A0; 10 drive connections.
  • the first detection part 30 may detect the position of the rotating member 10 in its axial direction. It may be to directly measure the displacement (that is, the position) of the rotating member 10 along its axial direction, or it may be detected indirectly. It is realized by measuring the deformation amount of the axial biasing member 20 .
  • the first detection part 30 detects the position change of the rotating part 10 along its axial direction. With a gap, the detection end of the first detection part 30 is arranged on the side facing away from the surgical instrument 200 relative to the rotating part 10, that is, on the distal side of the rotating part 10.
  • the first detecting part 30 It is a non-contact sensor, configured to detect whether the detected part of the rotating member 10 is sensed, for example, the first detection component 30 adopts a proximity sensor, and correspondingly, the controller 40 is configured to: when the first detection When the component 30 senses the detected portion of the rotating member 10 , it is determined that the drive input interface 50 is not coupled to the rotating member 10 .
  • FIG. 4A shows a schematic diagram of the internal structure of the power device in the coupled state of the surgical instrument
  • Figure 4B shows a power device in the uncoupled state of the surgical instrument according to Embodiment 1 of the present invention
  • Figure 5A shows a schematic diagram of the main structure of a power plant.
  • the driving input interface 50 and the rotating member 10 are coupled through the cooperation of the concave and convex features on the end surfaces facing each other. As shown in FIG.
  • the controller 40 determines that the drive input interface 50 Not coupled with the rotating member 10; as shown in Figure 4A, when the drive input interface 50 is installed on the rotating member 10, the concave and convex features used for coupling on the driving input interface 50 and the rotating member 10 are in an aligned state When cooperating with each other, the rotating part 10 rebounds a certain distance toward the proximal end, causing the distance between the first detection part 30 and the rotating part 10 to increase, and the actual position of the rotating part 10 along its axial direction reaches the preset position A0, can no longer be detected by the first detection component 30 , at this time, the controller 40 determines that the drive input interface 50 is coupled to the rotating member 10 .
  • the rotating member 10 has a ring-shaped detected portion 101, and the first detection component 30 is configured to detect whether the detected portion 101 of the detected portion 101 is sensed, and the controller 40 is configured to: when detected When the portion 101 is sensed by the detection portion 101 , it is determined that the drive input interface 50 is not coupled to the rotating member 10 .
  • the first detection component 30 is configured to detect whether the detected portion 101 of the detected portion 101 is sensed
  • the controller 40 is configured to: when detected When the portion 101 is sensed by the detection portion 101 , it is determined that the drive input interface 50 is not coupled to the rotating member 10 .
  • FIG. 5 A shows is the situation that the detecting end of the first detecting part 30 faces the distal end surface of the rotating part 10, and the first detecting part 30 is located on one side of the axial direction of the rotating part 10, when the rotating part 10 is squeezed toward
  • the direction of the deformation of the axial bias member 20 moves (ie, the direction away from the surgical instrument 200 )
  • the distance from the detected portion 101 to the detection end of the first detection component 30 gradually decreases.
  • FIG. 5B shows another power device.
  • the rotating member 10 has a ring-shaped detected portion 101'
  • the first detection component 30 is arranged on the radially outer side of the rotating member 10, placed towards the central axis of the rotating member 10, and is used to detect the annular outer peripheral surface of the detected part 101 ′, which is compared with the adjacent outer peripheral surface of the rotating member 10.
  • the radial dimension of the rotating member 10 is larger, and when the rotating member 10 is squeezed to move in the direction of increasing the deformation of the axial biasing member 20, the detected part 101' of the rotating member 10 can move axially from far to near
  • the detected part 101' will gradually move away from the detection end of the first detection part 30, and the distance between the detected part 101' and the detection end of the first detection part 30 will gradually increase. big.
  • the position of the first detection part 30 can be set so that when it is detected that it faces the detected part 101', the rotating member 10 reaches the preset position A0, and correspondingly, the controller 40 is configured to: when the detected part 101' When detected, it is determined that the drive input interface 50 is coupled with the rotating member 10 .
  • the detected part 101 ′ may be the same object as the detected part 101 , or may be another part different from the detected part 101 .
  • the first detection component 30 may not use a proximity sensor, but a distance sensor instead, and the first detection component 30 is configured to detect the distance between it and the detected part 101
  • the controller 40 is configured to: when the first detecting part 30 detects that the distance between it and the rotating part 10 is less than the preset distance, it is determined that the drive input interface 50 is not coupled with the rotating part 10; when the first detecting part 30 detects When the distance between it and the rotating member 10 is equal to the preset distance, it is determined that the drive input interface 50 is coupled with the rotating member 10; when the first detection component 30 detects that the distance between it and the rotating member 10 is greater than the preset distance , it is also determined that the drive input interface 50 is not coupled to the rotating member 10 .
  • Proximity sensors include, but are not limited to, capacitive, inductive, and photoelectric sensors, and distance sensors include, but are not limited to, optical sensors, infrared sensors, and ultrasonic sensors.
  • an adapter assembly 300 is configured between the sterile power unit 100 and the sterile surgical instrument 200.
  • the adapter assembly 300 can be used as a part of the sterile cover, by using the sterile cover Isolating the surgical instrument from other parts of the equipment can isolate the sterile power unit 100 from the sterile surgical instrument 200, and the power of the power unit 100 (such as motor torque output) is transmitted to the surgical unit through the adapter assembly 300.
  • the instrument 200 can not only drive the surgical instrument 200 to perform corresponding surgical operations, but also ensure the aseptic isolation effect.
  • the surgical instrument 200 is provided with a first input disc 51
  • the adapter assembly 300 is provided with a second input disc 52
  • the power unit 100 is provided with rotating parts 10
  • the number of rotating parts 10 is the same as that of the first input disc 52 on the surgical instrument 200.
  • the numbers of the input discs 51 and the second input discs 52 on the adapter assembly 300 correspond to each other, so that each first input disc 51 is respectively coupled to a rotating member 10 through a second input disc 52 .
  • the adapter assembly 300 specifically includes a second housing 300a detachably mounted on the first housing 100a and a plurality of second housings 300a rotatably provided on the second housing 300a.
  • Two input discs 52 namely 52A-52F.
  • the first input disk 51 and the second input disk 52 form the drive input interface 50
  • the second input disk 52 is only used as a part of the drive input interface 50.
  • the first input disk 51, the second input disk 52 Only when two or two of the rotating parts 10 are driven and engaged is called the coupling of the drive input interface 50 and the rotating part 10, only the second input disc 52 is engaged with the rotating part 10, and the first input disc 51 and the second input disc 52 are not engaged. It still belongs to the situation that the drive input interface 50 is not coupled to the rotating member 10 , in this case, the first detection component 3 can still detect the rotating member 10 .
  • the second input disc 52 and the rotating member 10 are coupled through the cooperation of the concave and convex features facing each other's end faces.
  • the first input disc 51 and the second input disc provided on the surgical instrument 200 52 are coupled by the cooperation of the female and male features facing each other to transmit torque between the rotor 10 and the surgical instrument 200 .
  • the second input disk 52 has a degree of freedom along the axial direction of the second casing 300a, that is to say, the second input disk 52 can either rotate relative to the second casing 300a or rotate along the axis of the second casing 300a.
  • Axial movement which makes the second input disk 52 elastically abutted by the axial biasing member 20 and produce axial displacement, and has two contact states of engaging and not combining with the rotating member 10 .
  • the controller 40 is configured to: after the second housing 300a is installed on the power device, according to the detection result of the first detection component 30, determine whether the second input disc 52 is coupled with the rotating member 10; The second input disc 52 is coupled to the rotating member 10 , and after the surgical instrument 200 is installed in the power device, it is determined whether the first input disc 51 is coupled to the second input disc 52 according to the detection result of the first detection component 30 .
  • only one first detection component 30 is provided for each rotating member 10 , and the joint state detection of the second input disc 52 of the adapter assembly 300 and the first input disc 51 of the surgical instrument 200 can be realized at the same time.
  • the coupling end 10S of the rotating member 10 has first coupling features C1, C2, and the lower surface (distal end) of the second input disk 52 is provided with second coupling features D1, D2, and the second input disc 52 is provided with second coupling features D1, D2.
  • the upper surface (proximal end) of the disc 52 is provided with third coupling features E1, E2
  • the lower surface (distal end) of the first input disc 51 is provided with fourth coupling features F1, F2
  • the first coupling features C1, C2 are convex features or concave features
  • the second coupling features D1, D2 are correspondingly concave or convex features joined to the first coupling features C1, C2
  • the third coupling features E1, E2 are convex or concave features
  • the fourth coupling features F1 , F2 are concave or convex features that engage with third coupling features E1, E2, first coupling features C1, C2 engage with second coupling features D1, D2, third coupling features E1, E2 engage with fourth coupling features F1,
  • the torque of the rotating member 10 can be transmitted to the first input disk 51 .
  • FIG. 6A shows a schematic structural view of the power device 100 and its adapter assembly 300.
  • the power device 100 shown includes six rotating parts 10, namely 10A-10F.
  • a plurality of rotating parts 10 are installed in the first housing 100a.
  • Each rotating member 10 is controlled by the controller 40 to move independently.
  • Each controller 40 independently controls and drives the surgical instrument 200 , for example, each rotating member 10 controls the operation of the surgical instrument 100 such as rotation, yaw, pitch, opening and closing of the end instrument.
  • the number of controllers 40 can also be changed as required, for example, one controller 40 controls the rotation of all the rotating parts 10 in the power device 100 .
  • the second housing 300a of the adapter assembly 300 includes an upper housing 3001 at its proximal end and a lower housing 3002 at its far end.
  • the upper housing 3001 and the lower housing 3002 A plurality of accommodating cavities 3011 are cooperatively formed, and each accommodating cavity 3011 is used for accommodating a second input disk 52 , and the upper housing 3001 has a first edge portion 3010 for restricting the movement of the second input disk 52 toward the distal end in the axial direction,
  • the lower housing 3002 has a second edge portion 3020 for restricting the movement of the second input disk 52 toward the proximal end in the axial direction. sports.
  • the free end of the rotating shaft M1 of the motor M protrudes from the rotating member 10, and is more protruding out of the rotating member 10 than the coupling end 10S.
  • the shaft center of the second input disk 52 of the adapter assembly 300 A shaft hole H is opened in the position.
  • the shaft hole H can realize the pre-alignment function for the installation of the adapter assembly 300, and has This facilitates the radial alignment of the rotating member 10 and the second input disk 52 .
  • the shaft hole H can also be a groove, opened on the surface where the distal end of the second input disk 52 is located.
  • the free end of the rotating shaft M1 is fixed with a shaft cap M11, and the center of the rotating member 10 is opened with a central hole 10h for the rotating shaft M1 to pass through.
  • the shaft cap M11 is fixed on the free end of the rotating shaft M1 and at least partially accommodated in the central hole 10h. inside, reverse
  • the moving part 10 is radially limited, and the rotating part 10 is in elastic contact with the shaft cap M11 in the axial direction under the action of the axial biasing part 20.
  • the shaft cap M11 allows the rotating part 10 to move in the axial direction, but cannot The rotation occurs relative to the rotation axis M1.
  • the adapter assembly 300 is not necessary, and in some embodiments, the adapter assembly 300 can also be omitted.
  • the first input disc 51 directly abuts and couples with the rotating member 10 .
  • the drive input interface 50 includes a first input disc 51 provided on the surgical instrument 200, and the first input disc 51 and the rotating member 10 pass through concave and convex features (C1, C2 and F1, F2) with the coupling.
  • the controller 40 is configured to determine whether the first input disc 51 is coupled to the rotating member 10 according to the detection result of the first detection component 30 after the surgical instrument 200 is loaded into the power device.
  • This detection process is consistent with the above process, that is, when the detected portion of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position A0, it is determined that the driving input interface 50 is not coupled to the rotating member 10 The ends 10S are coupled.
  • the power device may include various signal terminals.
  • the first housing 100a of the power device 100 has a first signal terminal P1, and the first signal terminal P1 can contact with the signal terminal on the drive input interface 50 to conduct, and the controller 40 is configured to: The signal that the first signal terminal P1 is connected to the signal terminal of the drive input interface 50 determines that the drive input interface 50 is installed in a power device.
  • the adapter assembly 300 is configured to transmit torque between the rotating member 10 and the surgical instrument 200, the adapter assembly 300 includes a second signal terminal P2, and the second signal terminal P2 simultaneously Through the proximal and distal surfaces of the second housing 300a, when the adapter assembly 300 is installed on the first housing 100a of the power device 100, its second signal terminal P2 is connected to the first signal terminal on the first housing 100a. P1 contacts and conducts, and then the surgical instrument 200 is installed on the adapter assembly 300, and the third signal terminal P3 on the surgical instrument 200 can be contacted and conducted with the second signal terminal P2 after installation, thereby forming a connection to the first signal terminal P3. access to terminal P1.
  • the controller 40 is configured to: determine that the adapter assembly 300 has been installed in the first housing 100a according to the conduction signal between the second signal terminal P2 and the first signal terminal P1; After the casing 100a, it is determined that the surgical instrument 200 has been installed in the adapter assembly 300 according to the signal that the third signal terminal P3 of the surgical instrument 200 is connected to the first signal terminal P1.
  • the third signal terminal P3 thereof contacts the first signal terminal P1 to conduct, and the controller 40 It is configured to determine that the surgical instrument 200 has been mounted on the power device 100 according to the signal that the third signal terminal P3 of the surgical instrument 200 is connected to the first signal terminal P1 .
  • the controller 40 can judge that the adapter assembly 300/surgical instrument 200 has been installed according to the conduction state of each signal terminal, in order to further facilitate the operator to intuitively observe the installation state of the adapter assembly 300 and the surgical instrument 200, as shown in Figure 6A
  • the power device 100 of this embodiment further includes an indicating device 301 , which can be arranged on the outer wall of the second casing 300 a for easy observation. Since the first housing 100a is provided with the first signal terminal P1, the adapter assembly 300 has the second signal terminal P2, the surgical instrument 200 has the third signal terminal P3, and the indicating device 301 is provided on the adapter assembly 300, and is connected with the second signal terminal P3.
  • the two signal terminals P2 are electrically connected, and the detection circuit where the first signal terminal P1 is located can be conducted through the second signal terminal P2.
  • the coupling state gives an indication, and the indicating device 301 is an indicator light, and may also be a horn or the like.
  • the second signal terminal P2 can conduct with the first signal terminal P1 after the adapter assembly 300 is installed in the first housing 100a, and can conduct with the third signal terminal P3 after the surgical instrument 200 is installed in the adapter assembly 300,
  • the controller 40 is configured to: after the adapter assembly 300 is installed in the first housing 100a, and/or, after the surgical instrument 200 is installed in the adapter assembly 300, switch the indication of the indicating device according to the detection result of the first detection component 30 state, for example, when it is detected that the second input disc 52 of the adapter assembly 300 is coupled with the rotating member 10, the indicating device 301 turns from on to off; when the first input disc 51 of the surgical instrument 200 is coupled with the second input disc 52 When connected, the indicating device 301 turns from on to off.
  • the power device 100 in order to accurately detect the zero position of the rotating part 10, that is, the initial position, and facilitate the precise control of the rotation angle of the motor M, the power device 100 also has a second detection part 60, and the rotating part 10 is correspondingly provided with a target. Dot T.
  • the target part T rotates to face the second detection part 60, thereby judging that the rotating part 10 has returned to the zero position, and according to the zero position, the rotation of the rotating part 10 can be judged
  • the angle can facilitate the subsequent installation and coupling of the surgical instrument 200 .
  • the controller 40 is configured to determine that the rotating member 10 has rotated to zero when the target portion T rotates with the rotating member 10 to be detected by the second detection member 60 .
  • the target part T can be a through hole that runs through the axial direction of the rotating member 10.
  • the second detection part 60 includes a transmitting end 61 and a receiving end 62.
  • the emitting end 61 and the receiving end 62 are respectively arranged at the target point along the axial direction of the rotating member 10.
  • the signal sent by the transmitting end 61 is received by the receiving end 62, it means that the target point T rotates between the transmitting end 61 and the receiving end 62; otherwise, it is considered that the target point T is not in contact with the second The detection part 60 is facing.
  • the target part T can be arranged on the annular detected part 101, and the transmitting end 61 and the receiving end 62 are respectively located on both sides of the axial direction of the detected part 101, and the detected part 101 is sandwiched therein, and the transmitting end 61
  • An axial movement gap 600 reserved for the detected part 101 is formed between the receiving end 62 and the receiving end 62 .
  • the target part T can also be other marks for tracking.
  • the target part T is a magnet
  • the second detection component 60 is a Hall sensor. The change of the magnetic field can identify the rotation angle of the rotating member 10, thereby determining the zero position.
  • the motor M drives the rotating member 10 to rotate to the zero position.
  • the encoder of the motor can be used to determine the position of the zero position, and it can also be judged whether the motor M is working normally. The influence of the failure of the motor M on the detection accuracy of the subsequent adapter assembly 300 and the installation state of the surgical instrument 200 is avoided.
  • the controller 40 is configured to: according to the power-on command of the motor M, control the rotating member 10 to rotate until the target point T is detected by the second detection component 60, so that the rotating member 10 stops at the zero position, and then the installation starts Drive input interface 50 . In some embodiments, the rotating member 10 does not return to the zero position when the power device 100 is powered on.
  • the adapter assembly 300 is detachably mounted on the first housing 100a, and after the adapter assembly 300 is installed to drive and engage with the rotating member 10, it can also control the motor M to drive the rotating member 10 Rotate to the zero position.
  • the end effector 211 of the surgical instrument 200 passes through the sleeve 22, various joints are basically straightened.
  • the position of the concave/convex feature of the first input disk 51 of the first input disk 51 of the corresponding joint of the second input disk 52 of the connecting assembly 300 and the straightened surgical instrument 200 is just right, therefore, before the surgical instrument 200 is installed, the rotating member 10 is returned to the zero position After the surgical instrument 200 is installed on the adapter assembly 300, it can be directly driven and engaged with the adapter assembly 300, or it can be coupled with the corresponding first input disk 51 only by slightly correcting the rotation angle of the rotating member 10, which can improve the operation efficiency. Device engagement efficiency.
  • the controller 40 is configured to: after the adapter assembly 300 is installed in the first housing 100a, and the first detecting component 30 detects that the second input plate 52 of the adapter assembly 300 is in driving engagement with the rotating member 10, control the rotating member 10 is rotated toward the zero position, so that the target part T is detected by the second detection part 60 detected. In some embodiments, if the rotating member 10 does not return to the zero position before the surgical instrument 200 is installed, it is necessary to align and couple the first input disc 51 with the corresponding second input disc 52 after the surgical instrument 200 is installed. This process will take more time.
  • the rotating member 10 includes a first rotating member 10A and a second rotating member 10B, and each rotating member 10 corresponds to a drive input interface 50, a first detection component 30 and a second detection component 60 respectively, the first rotation
  • the part 10A includes a rotating part 10 configured to drive the end effector of the surgical instrument 200 to perform non-rotational actions such as pitching, yaw, and opening and closing
  • the second rotating part 10B is configured to drive the end effector of the surgical instrument 200 to perform autorotation Action rotating member 10.
  • the first rotating member 10A can be rotated to the zero position, and different from the first rotating member 10A, the second rotating member 10B can be rotated until the target point T is within the preset angle interval ⁇ .
  • the preset angle interval ⁇ is the master-slave operation limit interval between the operation part 1a and the slave operation device 200.
  • the target part T is outside the preset angle interval ⁇ and the master-slave alignment is performed before the next operation, it cannot be aligned.
  • the posture of the operation part 1a is aligned with the posture of the slave operation device 200, resulting in the automatic exit of the master-slave alignment program, which will affect the doctor's operating experience. Only when the target point T is within the preset angle interval ⁇ , can the next step be performed Master-slave alignment procedure.
  • the controller 40 may be configured to: after the surgical instrument 200 is installed on the adapter assembly 300 and the first detecting component 30 detects that the first input disc 51 is coupled with the first rotating member 10A, if the target portion T Detected by the second detection part 60, the first rotating part 10A no longer rotates, otherwise, the first rotating part 10A is controlled to rotate until the target part T is detected by the second detecting part 60; After the assembly 300 is connected, and the first detection part 30 detects that the first input disk 51 is coupled with the second rotating member 10B, if the target point T is within the preset angle interval ⁇ , the second rotating member 10B will no longer rotate. , otherwise, control the second rotating member 10B to rotate until the target point T is within the preset angle interval ⁇ .
  • the preset angle interval ⁇ can be defined according to the data of the encoder of the motor M, whether the target part T is located in the preset angle interval ⁇ , or can be calculated according to the rotation angle of the motor M, etc.
  • the controller 40 of this embodiment is further configured as: After being installed in the first housing 100a, when the second input disk 52 is not coupled with the rotating member 10, the rotating member 10 is controlled to rotate in a preset first way, and when the rotating member 10 is rotated to be coupled with the second input disk 52 , the preset rotation of the rotating member 10 is interrupted.
  • the first way of the preset can be, for example, forward and reverse rotation for scanning, such as scanning M times.
  • the initial position is called scanning
  • one return from the initial position towards the forward scan or one return towards the reverse scan is called one scan
  • the angle of the unidirectional scan of the rotating member 10 does not exceed the first angle threshold a; subsequently, at the first
  • the rotating member 10 is controlled to rotate in the second preset mode, and when the rotating member 10 rotates to be coupled with the first input disk 51, the preset of the rotating member 10 is interrupted.
  • the preset second mode can be, for example, forward and reverse rotation to scan, such as scanning N times, the one-way scanning angle of the rotating member 10 does not exceed the second angle threshold b, where M and N are not less at 1 time.
  • the preset rotation is interrupted at the first time when the rotating member 10 is rotated to be coupled with the second input disk 52, the instrument can be prevented from being accidentally driven after it is drivingly engaged with the power device 100, and the instrument can be avoided. Harm to the human body. Moreover, during the installation of the adapter assembly 300, when the second input disk 52 is successfully coupled, the preset rotation is interrupted at the first time, which can save unnecessary actions and improve installation efficiency.
  • the biasing force exerted by the axial biasing member on the rotating member 10 elastically abuts the second input disk 52
  • the rotating member 10 can be rotated relative to the second input disk 52, so that the first coupling features C1, C2 and the second The coupling features D1, D2 are aligned; similarly, after the surgical instrument 200 is installed, when the third coupling features E1, E2 are not aligned with the fourth coupling features F1, F2, by controlling the rotating member 10 to rotate repeatedly in forward and reverse directions,
  • the second input disc 52 may be rotated relative to the first input disc 51 to align the third coupling features El, E2 with the fourth coupling features Fl, F2.
  • the rotating member 10 can drive the second input disk 52 of the adapter assembly 300 to rotate freely.
  • the second angle threshold b is smaller than the first angle threshold a.
  • the controller 40 may also be configured to: when it is detected that the adapter assembly 300 is installed in the first housing 100a, regardless of whether the second input disk 52 is coupled to the rotating member 10 , both control the forward and reverse rotation of the rotating member 10 to scan, and the single rotation of the rotating member 10 The scan angle does not exceed the first angle threshold a; when it is detected that the surgical instrument 200 is installed on the adapter assembly 300, no matter whether the first input disc 51 is coupled with the second input disc 52, the forward and reverse directions of the rotating member 10 are controlled. When scanning toward rotation, the unidirectional scanning angle of the rotating member 10 does not exceed the second angle threshold b, and the second angle threshold b is also smaller than the first angle threshold a.
  • the controller 40 is configured to: When the first rotating member 10A is coupled with a second input disc 52, and the corresponding first input disc 51 is not coupled with the first rotating member 10A after being installed on the corresponding second input disc 52, the control is at the first rotating The member 10A rotates in the preset third way. During this process, once the first detection part 30 detects that the first input disk 51 is coupled with the second input disk 52, the preset rotation of the first rotating member 10A is immediately interrupted.
  • the rotating member 10 can be returned to the zero position with the shortest time and rotation path after the first input disc 51 and the second input disc 52 are coupled, without unnecessary actions, and without waiting for the rotating member 10 to scan a certain position. Angle threshold for increased installation efficiency and safety.
  • the first rotating member 10A stops rotating immediately, No more returning to zero.
  • the controller 40 is configured to: after the first rotating member 10A is coupled with a second input disk 52 , and the corresponding first input disk 51 is installed on the corresponding second input disk 52 , it is not coupled with the first rotating member 10A , control the first rotating member 10A to rotate in a preset third way, and when the first rotating member 10A rotates to couple with the corresponding first input disk 51, interrupt the preset rotation of the first rotating member 10A, and Stop rotating the first rotating member 10A, and no longer control the rotating member 10 to rotate toward the zero position; the second rotating member 10B is coupled with another second input disk 52, and the corresponding When the first input disk 51 is installed on the corresponding second input disk 52 and is not coupled with the second rotating member 10B, the second rotating member 10B is controlled to rotate in a preset
  • the first detection part 30 detects that the first input disc 51 is coupled with the second input disc 52, no matter whether the rotating member 10 is about to rotate forward or reverse, it will stop rotating directly and wait for the next master-slave alignment command .
  • the next master-slave alignment can be performed The operation aligns the posture of the operation unit 1 a with the posture of the slave operation device 2 .
  • the adapter assembly 300 of this embodiment also includes an axial vibrating member 302 , the axial vibrating member 302 partly protrudes into the housing cavity 3011, when the second input disk 52 cannot be coupled with the rotating member 10, or the first input disk 51 cannot be coupled with the second input disk 52, the control shaft can The vibrating part 302 vibrates the second input disk 52 along the axial direction of the adapter assembly 300 until the corresponding coupling features engage with each other.
  • the axial vibrating part 302 can be a linear motor, fixed on the second housing 300a, and It is electrically connected to the controller 40 via the second signal terminal P2.
  • annular recess 520 may be provided on the outer peripheral surface of each second input disc 52, a part of the axial vibrating member 302 is arranged in the second housing 300a, and the other part extends into the recess 520, when the second input disc 52 is coupled with the rotating member 10, and the second input disc 52 is coupled with the first input disc 51, the rotating member 10 is at the preset position A0, and the axial vibrating member 302 may not contact the recess 520, thus not affecting the second input disc 52, and when the rotating member 10 is not at the preset position A0, the axial vibrating member 302 drives the second input disc 52 to vibrate in the axial direction slightly, and cooperates with the forward and reverse rotation of the rotating member 10, so that the rotating The member 10, the second input disk 52, and the first input disk 51 are coupled together.
  • the controller 40 can be configured to: after the adapter assembly 300 is installed, when the first coupling features C1, C2 are not aligned with the second coupling features D1, D2, while controlling the rotating member 10 to rotate repeatedly in forward and reverse directions, Start the axial vibrating part 302 to make the rotating part 10 rotate and vibrate axially relative to the second input disk 52, so that the first coupling features C1, C2 are aligned with the second coupling features D1, D2; After 200 is installed, when the third coupling features E1, E2 and the fourth coupling features F1, When F2 is misaligned, while the rotating member 10 is controlled to rotate repeatedly in forward and reverse directions, the axial vibrating member 302 is activated to cause the second input disc 52 to rotate and vibrate axially relative to the first input disc 51, so that the third coupling feature E1, E2 are aligned with fourth coupling features F1, F2.
  • FIG. 9 shows another adapter assembly 300 of this embodiment. Considering that in some extreme cases, after the adapter assembly 300 is installed in the first housing 100a, even if the adapter assembly 300 is rotated in a preset manner After the rotating member 10, the rotating member 10 is always in an uncoupled state with the second input disc 52, and the concave and convex features of the two are not combined but maintain a dislocation state. The uncoupled second input disk 52 is driven downward to rotate against the reverse friction force of the second housing 300 a of the adapter assembly 300 , which may easily make people think that the rotating member 10 is coupled with the second input disk 52 .
  • a number of second bosses are protruded on the surface of the second housing 300a facing the surface where the third coupling features E1 and E2 are located (that is, the first edge portion 3010).
  • these second bosses 3000 are arranged at intervals along the circumference of each receiving cavity 3011, and a number of first bosses 521 are raised on the surface where the third coupling features E1, E2 of the second input disc 52 are located, these first bosses 521 A boss 521 is arranged on the edge of the second input disk 52, and will not contact with the fourth coupling features F1, F2, that is, the radius of the circle where the first boss 521 is located is larger than the radius of the circle where the fourth coupling features F1, F2 are located.
  • the larger one of the radii only restricts the relative rotation of the second input disc 52 and the second housing 300 a, without interfering with the first input disc 51 of the surgical instrument 200 .
  • the second input disc 52 is abutted against the inner surface of the second housing 300a by the rotating member 10, that is, On the inner surface of the upper housing 3001, the first boss 521 of the second input plate 52 is embedded in the space between the second bosses 3000 of the second housing 300a, when the rotating member 10 drives the second
  • the first boss 521 rotates to and is blocked by the second boss 3000 in the interval between the second bosses 3000, even if a second boss 3000 cannot apply enough resistance to make the second input disk 52 stops briefly, when the first boss 521 can decelerate the second input disk 52 after passing through the action of multiple second bosses 3000, so that the rotating member 10 can be truly coupled with the second input disk 52, when the two are coupled After connecting, the resistance between the first boss 521 and the second boss 3000 can be overcome to drive the second input disc 52 to rotate accordingly.
  • this embodiment provides a method for detecting the joint state of the power unit of the surgical robot.
  • the power unit 100 includes a first housing 100a, and the rotating member 10 is rotatably arranged on the first housing 100a, including Axial coupling end 10S, axial biasing member 20 is configured to rotate
  • the member 10 provides an elastic bias towards the surgical instrument 200, and the deformation becomes larger when the driving input interface 50 is coupled with the rotating member 10, and the first detection component 30 is configured to detect the position of the rotating member 10 in its axial direction.
  • the detection method includes: judging whether the drive input interface 50 is coupled with the rotating member 10 according to the detection result of the first detection component 30 .
  • the driving input interface 50 is configured to compress the axial biasing member 20 to provide torque for the surgical instrument 200 when coupled with the rotating member 10 .
  • the drive input interface 50 is not coupled to the rotating member 10; otherwise, when the rotating member 10 is located at the preset position When A0, it is determined that the drive input interface 50 is coupled to the rotating member 10 .
  • the first input disc 51 and the rotating member 10 are coupled through the cooperation of the concave and convex features ( C1 , C2 and F1 , F2 ) facing each other.
  • the driving input interface 50 includes a first input disc 51 disposed on the surgical instrument 200 , and the first input disc 51 and the rotating member 10 are coupled through cooperation of concave and convex features facing each other's end surfaces.
  • the detection method includes: judging whether the first input disc 51 is coupled to the rotating member 10 according to the detection result of the first detection component 30 . When the detected portion of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position A0 , it is determined that the driving input interface 50 is not coupled to the coupling end 10S of the rotating member 10 .
  • the adapter assembly 300 is used as a part of the power device 100.
  • the detection method includes: according to the detection result of the first detection component 30, judging the first Whether the second input disc 52 is coupled to the rotating member 10; after the second input disc 52 is coupled to the rotating member 10 and the surgical instrument 200 is installed on the adapter assembly 300, according to the detection result of the first detection component 30, it is judged that the first Whether the input disc 51 is coupled with the second input disc 52 .
  • the first detection component 30 determines the coupling state of the drive input interface 50 by detecting whether the detected portion 101 of the rotating member 10 is sensed. At this time, the detection method includes: when the first detecting part 30 senses the detected part 101 of the rotating part 10, judging that the drive input interface 50 is not coupled with the rotating part 10; When the detected portion 101 of 10 is detected, it is determined that the drive input interface 50 is coupled to the rotating member 10 .
  • the first detection component 30 determines the coupling state of the drive input interface 50 by detecting the distance between it and the detected portion 101 .
  • the detection method includes: when the first detection component 30 detects that the distance between it and the rotating member 10 is less than the preset distance, it is determined that the driving input interface 50 is not coupled with the rotating member 10; The interface 50 is coupled with the rotating member 10 .
  • the first detecting component 30 determines the coupling state of the driving input interface 50 by detecting the deformation of the axial biasing member 20 .
  • the detection method includes: when the first detection component 30 detects that the deformation of the axial biasing member 20 is less than or greater than a preset value, it is determined that the drive input interface 50 is not coupled with the rotating member 10; When a detection component 30 detects that the deformation of the axial biasing member 20 is equal to a preset value, it is determined that the driving input interface 50 is coupled to the rotating member 10 .
  • the power device 100 further includes a first signal terminal P1 provided on the first housing 100a, and the first signal terminal P1 can contact and conduct with the signal terminal on the drive input interface 50, so as to realize electrical transmission of signals.
  • the detection method includes: judging that the drive input interface 50 has been installed in the power device according to the signal that the first signal terminal P1 is connected to the signal terminal of the drive input interface 50; otherwise, determining that the drive input interface 50 has not been installed yet or failed to install.
  • the third signal terminal P3 thereof contacts the first signal terminal P1 to conduct conduction.
  • the detection method includes: judging that the surgical instrument 200 has been loaded into the power device according to the conduction signal of the first signal terminal P1 and the third signal terminal P3.
  • the power device 100 includes an adapter assembly 300 configured to transmit torque between the rotating member 10 and the surgical instrument 200, the adapter assembly 300 has a second signal terminal P2, and the surgical instrument 200 has a second signal terminal P2.
  • the third signal terminal P3 and the second signal terminal P2 can be electrically connected to the first signal terminal P1 on the first housing 100 a , and can also be electrically connected to the third signal terminal P3 on the surgical instrument 200 .
  • the detection method includes: according to the conduction signal between the second signal terminal P2 and the first signal terminal P1, it is determined that the adapter assembly 300 has been installed in the first housing 100a; after the adapter assembly 300 is installed in the first housing 100a, According to the signal that the third signal terminal P3 of the surgical instrument 200 is connected to the first signal terminal P1, it is determined that the surgical instrument 200 is installed in the adapter assembly 300 .
  • the power device 100 further has an indicating device 301, which is disposed on the adapter assembly 300 and is electrically connected to the second signal terminal P2.
  • the second signal terminal P2 can be conducted with the first signal terminal P1 after the adapter assembly 300 is installed in the first housing 100 a, and can be conducted with the third signal terminal P3 after the surgical instrument 200 is installed in the adapter assembly 300 .
  • the detection method includes: after the adapter assembly 300 is installed in the first housing 100a, and/or, after the surgical instrument 200 is installed in the adapter assembly 300, according to the detection result of the first detection component 30, switching the indication of the indicating device state.
  • the indicating device 301 when it is detected that the second input disc 52 of the adapter assembly 300 is coupled with the rotating member 10, the indicating device 301 turns from on to off; when the first input disc 51 of the surgical instrument 200 is coupled to When the second input disc 52 is coupled, the indicating device 301 turns from on to off.
  • the indicating device 301 may also be a speaker or a display device or the like.
  • the indication information of the indication device 301 can also be reminded in other ways, for example, displayed through the main console 1 or an independent imaging device (such as an imaging car).
  • this embodiment provides a method for joining a power unit of a surgical robot, including:
  • the driving input interface 50 includes a first input disc 51 disposed on the surgical instrument 200 , and the first input disc 51 and the rotating member 10 are coupled through cooperation of concave and convex features facing each other's end surfaces. Then, when the surgical instrument is engaged with the power device, it is only necessary to first install the surgical instrument 200 on the first housing 100a of the power device 100, and then detect the position of the rotating member 10 in its axial direction.
  • the first input disc 51 completes the contact with the rotating member. 10 couplings.
  • the adapter assembly 300 is used as a part of the power device 100, and the adapter assembly 300 includes a second input disk 52 with axial and circumferential degrees of freedom, and the second input disk 52 is connected to the rotating member 10 are coupled through the cooperation of concave and convex features facing each other, and the first input disc 51 and the second input disc 52 provided on the surgical instrument 200 are coupled through the cooperation of concave and convex features facing each other.
  • the joining method includes two installation processes of the adapter assembly 300 and the surgical instrument 200. First, the adapter assembly 300 needs to be installed on the first housing 100a of the power device 100, and then the rotation of the rotating member 10 is detected in its axial direction.
  • the rotating member 10 When the detected portion of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position, the rotating member 10 is rotated in the forward and/or reverse direction according to the preset first way, To move the rotating member 10 to the preset position A0 along its axial direction, that is, to complete the installation of the adapter assembly 300 and the coupling of the second input disc 52; subsequently, the surgical instrument 200 is installed on the second shell of the adapter assembly 300 body 300a, and then detect the position of the rotating member 10 in its axial direction, when the rotating member 10 is not at the preset position A0, the detected part of the rotating member 10 is relative to the preset position A0 under the extrusion of the second input disk 52 Located on the side facing away from the surgical instrument 200, according to the preset second method, such as forward and/or reverse rotation of the rotating member 10, so that the rotating member 10 moves to the preset position A0 along its axial direction, that is, complete Installation of surgical instrument 200 and coupling of first input disc 51 .
  • the motor M drives the rotating part 10 to rotate to the zero position
  • the second detection part 60 is used to detect the zero position of the rotating part 10.
  • the target part T rotates to face the second detection part 60 .
  • the rotating part 10 can be rotated until the target point T is detected by the second detection part 60, so that the rotating part 10 returns to the zero position, It is convenient for the next step.
  • the target part T can be a through hole that runs through the axial direction of the rotating member 10.
  • the second detection part 60 includes a transmitting end 61 and a receiving end 62.
  • the emitting end 61 and the receiving end 62 are respectively arranged at the target point along the axial direction of the rotating member 10.
  • the signal sent by the transmitting end 61 is received by the receiving end 62, it means that the target point T rotates between the transmitting end 61 and the receiving end 62; otherwise, it is considered that the target point T is not in contact with the second The detection part 60 is facing.
  • the target part T can be arranged on the annular detected part 101, and the transmitting end 61 and the receiving end 62 are respectively located on both sides of the axial direction of the detected part 101, and the detected part 101 is sandwiched therein, and the transmitting end 61
  • An axial movement gap 600 reserved for the detected part 101 is formed between the receiving end 62 and the receiving end 62 .
  • the rotating member 10 rotates to the zero position, specifically, the target point T is detected by the second detection component 60 .
  • the target part T can also be other marks for tracking.
  • the target part T is a magnet
  • the second detection component 60 is a Hall sensor. The change of the magnetic field can identify the rotation angle of the rotating member 10, thereby determining the zero position.
  • the rotating member 10 may need to return to the zero position when the power device 100 is powered on, when the adapter assembly 300 is installed on the first housing 100a and the second input disc 52 is successfully coupled to the rotating member 10, the rotating member 10 may also Need to return to zero position. Returning the rotating member 10 to zero before installing the surgical instrument 200 can make the surgical instrument 200 directly drive and engage with the adapter assembly 300 after being installed on the adapter assembly 300, or only need to slightly correct the rotation angle of the rotating member 10 to be compatible with the adapter assembly 300. The coupling of the corresponding first input disk 51 can improve the engagement efficiency of the surgical instrument.
  • the rotating member 10 when the adapter assembly 300 is installed in the first housing 100a, and the first detection component 30 detects that the second input disk 52 of the adapter assembly 300 is in driving engagement with the rotating member 10, the rotating member 10 is controlled to move toward the zero position. The direction of rotation makes the target part T detected by the second detection part 60 . In some embodiments, if the rotating member 10 does not return to the zero position before the surgical instrument 200 is installed, it is necessary to align and couple the first input disc 51 with the corresponding second input disc 52 after the surgical instrument 200 is installed. This process will take more time.
  • the rotating member 10 includes a first rotating member 10A and a second rotating member 10B, and each rotating member 10 corresponds to a driving input interface 50, a first detecting component 30 and a second detecting component 60 respectively, and the first rotating member 10A includes a The rotating part 10 configured to drive the end effector of the surgical instrument 200 to perform non-autorotation actions such as pitching, yaw, and opening and closing, and the second rotating part 10B includes the rotating part 10 configured to drive the end effector of the surgical instrument 200 to perform autorotation. .
  • the first rotating member 10A can rotate.
  • the first rotating part 10A To the zero position: if the target point T is detected by the second detection part 60, the first rotating part 10A will no longer rotate, otherwise, the first rotating part 10A will be controlled to rotate until the target point T is detected by the second detection part 60 detected, make the first rotating member 10A return to zero position; but after the surgical instrument 200 is installed on the adapter assembly 300 and the first detection part 30 detects that the drive input interface 50 is coupled with the second rotating member 10B, if the target If the point T is within the preset angle interval ⁇ , the second rotating member 10B does not rotate anymore; otherwise, the second rotating member 10B is controlled to rotate until the target point T is within the preset angle interval ⁇ .
  • the preset angle interval ⁇ can be defined according to the data of the encoder of the motor M, whether the target part T is located in the preset angle interval ⁇ , or can be calculated according to the rotation angle of the motor M, etc.
  • the second input disc 52 of the adapter assembly 300 has axial and circumferential degrees of freedom.
  • the rotating member 10 is controlled to rotate in the preset first way, and when the rotating member 10 rotates to the second When the input disc 52 is coupled, the preset rotation of the rotary member 10 is interrupted.
  • the preset first mode can be, for example, forward and reverse rotation for scanning, such as scanning M times.
  • the preset rotation of the rotating member 10, the preset second mode can be, for example, scanning in forward and reverse directions, such as scanning N times, and the unidirectional scanning angle of the rotating member 10 does not exceed the second angle threshold b, where M , N are not less than 1 time.
  • the first angle threshold a is greater than the second angle threshold b to avoid uncontrolled unintended movement of the end effector in the wound.
  • the combination process of the surgical instrument and the power device may also be: when it is detected that the adapter assembly 300 is installed on the first housing 100a, no matter whether the second input disc 52 is connected to the rotating member 10 coupling, both control the forward and reverse rotation of the rotating member 10 to scan, the one-way scanning angle of the rotating member 10 does not exceed the first angle threshold a; when it is detected that the surgical instrument 200 is installed on the adapter assembly 300, regardless of the second Whether the first input disk 51 is coupled with the second input disk 52 controls the rotating member 10 to rotate forward and reverse to scan, and the one-way scanning angle of the rotating member 10 does not exceed the second angle threshold b, and the second angle threshold b also less than the first angle threshold a.
  • the first rotating member 10A needs to be rotated to the zero position, the combination of the surgical instrument and the power device
  • the process may also be: when the first rotating member 10A is coupled with a second input disk 52, and the corresponding first input disk 51 is not coupled with the first rotating member 10A after being installed on the corresponding second input disk 52, Control the rotation of the first rotating member 10A in a preset third manner.
  • the first detection component 30 detects that the first input disk 51 is coupled with the second input disk 52, the first rotating member 10A is immediately interrupted.
  • the preset rotation of the control rotating member 10 is rotated towards the zero position, and when the first rotating member 10A rotates to the target point T and is detected by the second detection component 60, it stops rotating; when the second rotating member 10B and another second input When the disk 52 is coupled, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 and is not coupled with the second rotating member 10B, the second rotation is controlled
  • the member 10B rotates in a preset fourth way, and when the second rotating member 10B is rotated to be coupled with the corresponding first input disk 51, the preset rotation of the second rotating member 10B is interrupted, and the second rotating member 10B is controlled Turn until the target point T is within the preset angle interval ⁇ .
  • the rotating member 10 can be returned to the zero position with the shortest time and rotation path after the first input disc 51 and the second input disc 52 are coupled, without unnecessary actions, and without waiting for the rotating member 10 to scan a certain position. Angle threshold for increased installation efficiency and safety.
  • the first rotating member 10A stops rotating immediately, No more returning to zero.
  • the combination process of the surgical instrument and the power device can also be: after the first rotating member 10A is coupled with a second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52, it is not connected with the first input disk 52.
  • the rotating member 10A is coupled, the first rotating member 10A is controlled to rotate in a preset third manner, and when the first rotating member 10A is rotated to be coupled with the corresponding first input disc 51, the rotation of the first rotating member 10A is interrupted.
  • the second rotating member 10B is coupled with another second input disc 52, and the corresponding first input disc 51 is installed
  • the second rotating member 10B controls the second rotating member 10B to rotate in the preset fourth way, and when the second rotating member 10B rotates to the corresponding first input
  • the preset rotation of the second rotating member 10B is interrupted, and the target portion T of the second rotating member 10B is controlled to rotate within the preset angle interval ⁇ .
  • the first detection part 30 detects that the first input disc 51 is coupled with the second input disc 52, no matter whether the rotating member 10 is about to rotate forward or reverse, it will stop rotating directly and wait for the next master-slave alignment command .
  • the next master-slave alignment can be performed The operation aligns the posture of the operation unit 1 a with the posture of the slave operation device 2 .
  • the adapter assembly 300 of this embodiment is also Including the axial vibrating element 302, the axial vibrating element 302 partially protrudes into the receiving cavity 3011, when the second input disc 52 cannot be coupled with the rotating member 10, or the first input disc 51 cannot be coupled with the second input disc 52 At this time, the second input disk 52 can be vibrated along the axial direction of the adapter assembly 300 by controlling the axial vibrating member 302 until the corresponding coupling features are engaged with each other.
  • the axial vibrating member 302 can be a linear motor fixed on the second housing body 300a, and can be electrically connected to the controller 40 through the second signal terminal P2.
  • annular recess 520 may be provided on the outer peripheral surface of each second input disc 52, a part of the axial vibrating member 302 is arranged in the second housing 300a, and the other part extends into the recess 520, when the second input disc 52 is coupled with the rotating member 10, and the second input disc 52 is coupled with the first input disc 51, the rotating member 10 is at the preset position A0, and the axial vibrating member 302 may not contact the recess 520, thus not affecting the second input disc 52, and when the rotating member 10 is not at the preset position A0, the axial vibrating member 302 drives the second input disc 52 to vibrate in the axial direction slightly, and cooperates with the forward and reverse rotation of the rotating member 10, so that the rotating The member 10, the second input disk 52, and the first input disk 51 are coupled together.
  • the combination process of the surgical instrument and the power device can also be: after the adapter assembly 300 is installed, when the first coupling features C1, C2 are not aligned with the second coupling features D1, D2, the rotating member 10 is controlled in a preset manner While rotating repeatedly in forward and reverse directions, the axial vibrating member 302 is started, so that the rotating member 10 rotates and vibrates axially relative to the second input disk 52, so that the first coupling features C1, C2 and the second coupling features D1, D2 Alignment; Similarly, after the surgical instrument 200 is installed, when the third coupling features E1, E2 are not aligned with the fourth coupling features F1, F2, the control rotating member 10 is rotated repeatedly in the forward and reverse directions in a preset manner.
  • This embodiment provides a computer-readable storage medium, where a plurality of instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by at least one processor and executing the above-mentioned method for detecting the engagement state of a power unit of a surgical robot And/or the steps of the joining method of the power unit of the surgical robot, the computer readable storage medium is a part of the bite force control system.
  • the processor may be a Central Processing Unit, a CPU, a controller, a microcontroller, a microprocessor, or other data processing chips.
  • the processor is typically used to control the overall operation of the computing device.
  • the processor is configured to run program codes stored in the storage medium or process data.
  • this embodiment provides a computing device, which includes a memory 3 and a processor 4.
  • the memory 3 may be the above-mentioned computer-readable storage medium, which stores a plurality of instructions, and the instructions are suitable for at least A processor 4 loads and executes the steps of the detection method and/or bonding method described above.
  • this embodiment provides a control method for a surgical robot, the control method comprising:
  • This posture alignment step can be performed by the controller 40, It can also be performed by another controller.
  • the rotating member 10 includes a first rotating member 10A and a second rotating member 10B, and each of the first rotating member 10A and the second rotating member 10B corresponds to a second input disc 52 and a first input disc 51 respectively.
  • step S12 aligns the posture of the operating part 1a with the posture of the slave operating device 2 Before, it is also necessary to detect whether the target point T of the second rotating member 10B has rotated to the preset angle interval ⁇ , and when the target point T of the second rotating member 10B rotates to the preset angle interval ⁇ , the operating part The pose of is aligned with the pose of the slave operating device, otherwise, the pose alignment step is not performed.
  • the control method also includes the step of controlling the combination of the power device and the surgical instrument. The step of combining the power device with the surgical instrument has been described in detail in the third embodiment above.
  • the basis for judging whether the drive input interface 50 is coupled to the rotating member 10 in step S11 of this embodiment includes but is not limited to relying on the detection of the first detection component 30, and the detection result of the first detection component 30 can also be Use other methods instead, for example, it can be judged according to the resistance torque between the drive input interface 50 and the rotating member 10, when the resistance torque between the two reaches a preset threshold, it is considered that the two are coupled, otherwise it is determined that there is no coupling.

Abstract

L'invention concerne un appareil d'alimentation (100) pour un robot chirurgical, un robot chirurgical et un procédé d'articulation, et un procédé de détection. L'appareil d'alimentation (100) comprend : un élément rotatif (10), un élément de sollicitation axiale (20) pour fournir une sollicitation élastique pour l'élément rotatif (10), un premier composant de détection (30), un second composant de détection (60) et un dispositif de commande (40). Avant qu'une interface d'entrée d'entraînement (50) soit montée, le dispositif de commande (40) fait tourner l'élément rotatif (10) jusqu'à ce qu'une partie cible (T) soit détectée par le second composant de détection (60), et lorsque la partie détectée de l'élément rotatif (10) est située sur le côté opposé à l'instrument chirurgical (200) par rapport à une position prédéfinie (A0), le dispositif de commande (40) fait tourner, en fonction d'un résultat de détection du premier composant de détection (30), l'élément rotatif (10) d'une manière prédéfinie pour permettre à l'élément rotatif (10) de se déplacer le long d'une direction axiale jusqu'à la position prédéfinie (A0). En utilisant le premier composant de détection (30) pour détecter la position de l'élément rotatif (10) pour délivrer un couple dans la direction axiale, après l'installation de l'instrument chirurgical (200), l'état de couplage d'entraînement du dispositif d'alimentation (100) peut être déterminé avec précision en fonction du résultat de détection du premier composant de détection (30). Ainsi, les actions attendues peuvent être exécutées avec précision en fonction de l'instruction du médecin, et le risque chirurgical provoqué par une oscillation inattendue de l'articulation de l'instrument est évité.
PCT/CN2023/077630 2022-03-04 2023-02-22 Appareil d'alimentation, robot chirurgical et procédé d'articulation WO2023165389A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210213585.XA CN116725678A (zh) 2022-03-04 2022-03-04 动力装置、手术机器人及检测方法
CN202210212330.1 2022-03-04
CN202210212330.1A CN116725677A (zh) 2022-03-04 2022-03-04 动力装置、手术机器人及接合方法
CN202210213585.X 2022-03-04

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